Kyojiro Hakomori

About

Kyojiro Hakomori is a pioneering figure in robotics, whose work has fundamentally shaped the control and sensing of robotic manipulators. His research centers on the core challenges of multi-arm coordination, force sensing, and the control of flexible structures. Hakomori’s most influential contribution is his seminal 2005 paper on hybrid position/force control for two-arm robots, which has garnered 130 citations. This work extended single-arm control schemes to the complex domain of cooperative manipulation, formulating the kinematics and statics necessary for two arms to perform tasks in concert. Earlier, he laid critical groundwork in force sensor technology, using singular value decomposition to evaluate sensor structures and applying Kalman filtering to clean noisy wrist force sensor signals. His investigations into compensating control for flexible robot arms, which address the complex dynamics of link elastic deflections, further demonstrate his breadth. With a career spanning from the mid-1980s to the 2000s, Hakomori’s research provides foundational principles for modern collaborative robotics, offering essential insights for any student or engineer working on precise, force-sensitive robotic systems.

Research Focus

Key Achievements

Top Papers

1. 1
   Hybrid position/Force control for coordination of a two-arm robot

   130 citations · 2005
2. 2
   Evaluation of robot force sensor structure using singular value decomposition.

   25 citations · 1987
3. 3
   Evaluation of the robot force sensor structure using singular value decomposition

   21 citations · 1990
4. 4
   Compensating Control of a Flexible Robot Arm

   21 citations · 1990
5. 5
   KALMAN FILTERING THE 6-AXIS ROBOT WRIST FORCE SENSOR SIGNAL.

   14 citations · 1985
6. 6
   Compensating control of a flexible robot arm.

   12 citations · 1989
7. 7
   Performance Evaluation of Robotic Arms Using the Jacobian

   11 citations · 1985

Key Collaborators

Contact & Links